EXPONENTIAL STABILIZATION OF THE DYNAMIC NONHOLONOMIC CONTROL SYSTEMS AND ITS APPLICATION TO WHEELED MOBILE ROBOT
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摘要: 本文研究了用动力学方程表示的双输入链式非完整系统的镇定问题,设计出了非连续的指数镇定律,并将其用于一类移动机器人的位姿镇定中.仿真结果表明了该控制律的有效性.Abstract: This paper studies the exponential stabilization of the dynamic nonholonomic chained systems with two inputs. A discontinuous exponentially stabilizing feedback law is given. An application to the stabilization of a nonholonomic wheeled mobile robot is described.Simmulation results show that the approach is effective.
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Keywords:
- Nonholonomic control /
- chained system /
- wheeled mobile robot
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